allwpilib/wpilibc/src/test/native/cpp/simulation/DriverStationSimTest.cpp

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

#include "wpi/simulation/DriverStationSim.hpp"

#include <string>
#include <tuple>

#include <gtest/gtest.h>

#include "callback_helpers/TestCallbackHelpers.hpp"
#include "wpi/driverstation/DriverStation.hpp"
#include "wpi/driverstation/Joystick.hpp"
#include "wpi/framework/RobotState.hpp"
#include "wpi/simulation/SimHooks.hpp"

using namespace wpi;
using namespace wpi::sim;

TEST(DriverStationTest, Enabled) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();

  EXPECT_FALSE(DriverStation::IsEnabled());
  BooleanCallback callback;
  auto cb =
      DriverStationSim::RegisterEnabledCallback(callback.GetCallback(), false);
  DriverStationSim::SetEnabled(true);
  DriverStationSim::NotifyNewData();
  EXPECT_TRUE(DriverStationSim::GetEnabled());
  EXPECT_TRUE(DriverStation::IsEnabled());
  EXPECT_TRUE(RobotState::IsEnabled());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_TRUE(callback.GetLastValue());
}

TEST(DriverStationTest, AutonomousMode) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();

  EXPECT_FALSE(DriverStation::IsAutonomous());
  BooleanCallback callback;
  auto cb = DriverStationSim::RegisterAutonomousCallback(callback.GetCallback(),
                                                         false);
  DriverStationSim::SetAutonomous(true);
  DriverStationSim::NotifyNewData();
  EXPECT_TRUE(DriverStationSim::GetAutonomous());
  EXPECT_TRUE(DriverStation::IsAutonomous());
  EXPECT_TRUE(RobotState::IsAutonomous());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_TRUE(callback.GetLastValue());
}

TEST(DriverStationTest, Mode) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();

  EXPECT_FALSE(DriverStation::IsTest());
  BooleanCallback callback;
  auto cb =
      DriverStationSim::RegisterTestCallback(callback.GetCallback(), false);
  DriverStationSim::SetTest(true);
  DriverStationSim::NotifyNewData();
  EXPECT_TRUE(DriverStationSim::GetTest());
  EXPECT_TRUE(DriverStation::IsTest());
  EXPECT_TRUE(RobotState::IsTest());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_TRUE(callback.GetLastValue());
}

TEST(DriverStationTest, Estop) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();

  EXPECT_FALSE(DriverStation::IsEStopped());
  BooleanCallback callback;
  auto cb =
      DriverStationSim::RegisterEStopCallback(callback.GetCallback(), false);
  DriverStationSim::SetEStop(true);
  DriverStationSim::NotifyNewData();
  EXPECT_TRUE(DriverStationSim::GetEStop());
  EXPECT_TRUE(DriverStation::IsEStopped());
  EXPECT_TRUE(RobotState::IsEStopped());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_TRUE(callback.GetLastValue());
}

TEST(DriverStationTest, FmsAttached) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();

  EXPECT_FALSE(DriverStation::IsFMSAttached());
  BooleanCallback callback;
  auto cb = DriverStationSim::RegisterFmsAttachedCallback(
      callback.GetCallback(), false);
  DriverStationSim::SetFmsAttached(true);
  DriverStationSim::NotifyNewData();
  EXPECT_TRUE(DriverStationSim::GetFmsAttached());
  EXPECT_TRUE(DriverStation::IsFMSAttached());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_TRUE(callback.GetLastValue());
}

TEST(DriverStationTest, DsAttached) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();
  DriverStation::RefreshData();

  EXPECT_FALSE(DriverStationSim::GetDsAttached());
  EXPECT_FALSE(DriverStation::IsDSAttached());
  DriverStationSim::NotifyNewData();
  EXPECT_TRUE(DriverStationSim::GetDsAttached());
  EXPECT_TRUE(DriverStation::IsDSAttached());

  BooleanCallback callback;
  auto cb = DriverStationSim::RegisterDsAttachedCallback(callback.GetCallback(),
                                                         false);
  DriverStationSim::SetDsAttached(false);
  DriverStation::RefreshData();
  EXPECT_FALSE(DriverStationSim::GetDsAttached());
  EXPECT_FALSE(DriverStation::IsDSAttached());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_FALSE(callback.GetLastValue());
}

TEST(DriverStationTest, AllianceStationId) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();

  EnumCallback callback;

  HAL_AllianceStationID allianceStation = HAL_AllianceStationID_kBlue2;
  DriverStationSim::SetAllianceStationId(allianceStation);

  auto cb = DriverStationSim::RegisterAllianceStationIdCallback(
      callback.GetCallback(), false);

  // Unknown
  allianceStation = HAL_AllianceStationID_kUnknown;
  DriverStationSim::SetAllianceStationId(allianceStation);
  wpi::sim::DriverStationSim::NotifyNewData();
  EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
  EXPECT_FALSE(DriverStation::GetAlliance().has_value());
  EXPECT_FALSE(DriverStation::GetLocation().has_value());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_EQ(allianceStation, callback.GetLastValue());

  // B1
  allianceStation = HAL_AllianceStationID_kBlue1;
  DriverStationSim::SetAllianceStationId(allianceStation);
  wpi::sim::DriverStationSim::NotifyNewData();
  EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
  EXPECT_EQ(DriverStation::kBlue, DriverStation::GetAlliance());
  EXPECT_EQ(1, DriverStation::GetLocation());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_EQ(allianceStation, callback.GetLastValue());

  // B2
  allianceStation = HAL_AllianceStationID_kBlue2;
  DriverStationSim::SetAllianceStationId(allianceStation);
  wpi::sim::DriverStationSim::NotifyNewData();
  EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
  EXPECT_EQ(DriverStation::kBlue, DriverStation::GetAlliance());
  EXPECT_EQ(2, DriverStation::GetLocation());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_EQ(allianceStation, callback.GetLastValue());

  // B3
  allianceStation = HAL_AllianceStationID_kBlue3;
  DriverStationSim::SetAllianceStationId(allianceStation);
  wpi::sim::DriverStationSim::NotifyNewData();
  EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
  EXPECT_EQ(DriverStation::kBlue, DriverStation::GetAlliance());
  EXPECT_EQ(3, DriverStation::GetLocation());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_EQ(allianceStation, callback.GetLastValue());

  // R1
  allianceStation = HAL_AllianceStationID_kRed1;
  DriverStationSim::SetAllianceStationId(allianceStation);
  wpi::sim::DriverStationSim::NotifyNewData();
  EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
  EXPECT_EQ(DriverStation::kRed, DriverStation::GetAlliance());
  EXPECT_EQ(1, DriverStation::GetLocation());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_EQ(allianceStation, callback.GetLastValue());

  // R2
  allianceStation = HAL_AllianceStationID_kRed2;
  DriverStationSim::SetAllianceStationId(allianceStation);
  wpi::sim::DriverStationSim::NotifyNewData();
  EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
  EXPECT_EQ(DriverStation::kRed, DriverStation::GetAlliance());
  EXPECT_EQ(2, DriverStation::GetLocation());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_EQ(allianceStation, callback.GetLastValue());

  // R3
  allianceStation = HAL_AllianceStationID_kRed3;
  DriverStationSim::SetAllianceStationId(allianceStation);
  wpi::sim::DriverStationSim::NotifyNewData();
  EXPECT_EQ(allianceStation, DriverStationSim::GetAllianceStationId());
  EXPECT_EQ(DriverStation::kRed, DriverStation::GetAlliance());
  EXPECT_EQ(3, DriverStation::GetLocation());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_EQ(allianceStation, callback.GetLastValue());
}

TEST(DriverStationTest, ReplayNumber) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();

  DriverStationSim::SetReplayNumber(4);
  DriverStationSim::NotifyNewData();
  EXPECT_EQ(4, DriverStation::GetReplayNumber());
}

TEST(DriverStationTest, MatchNumber) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();

  DriverStationSim::SetMatchNumber(3);
  DriverStationSim::NotifyNewData();
  EXPECT_EQ(3, DriverStation::GetMatchNumber());
}

TEST(DriverStationTest, MatchTime) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();

  DoubleCallback callback;
  auto cb = DriverStationSim::RegisterMatchTimeCallback(callback.GetCallback(),
                                                        false);
  constexpr double kTestTime = 19.174;
  DriverStationSim::SetMatchTime(kTestTime);
  wpi::sim::DriverStationSim::NotifyNewData();
  EXPECT_EQ(kTestTime, DriverStationSim::GetMatchTime());
  EXPECT_EQ(kTestTime, DriverStation::GetMatchTime().value());
  EXPECT_TRUE(callback.WasTriggered());
  EXPECT_EQ(kTestTime, callback.GetLastValue());
}

TEST(DriverStationTest, SetGameSpecificMessage) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();

  constexpr auto message = "Hello World!";
  DriverStationSim::SetGameSpecificMessage(message);
  DriverStationSim::NotifyNewData();
  EXPECT_EQ(message, DriverStation::GetGameSpecificMessage());
}

TEST(DriverStationTest, SetEventName) {
  HAL_Initialize(500, 0);
  DriverStationSim::ResetData();

  constexpr auto message = "The Best Event";
  DriverStationSim::SetEventName(message);
  DriverStationSim::NotifyNewData();
  EXPECT_EQ(message, DriverStation::GetEventName());
}